Robotic Mapping: A Survey

Sebastian Thrun

This article provides a comprehensive introduction into the field of robotic mapping, with a focus on indoor mapping. It describes and compares various probabilistic techniques, as they are presently being applied to a vast array of mobile robot mapping problems. The history of robotic mapping is also described, along with an extensive list of open research problems.

The full paper is available in gzipped Postscript and PDF

@INCOLLECTION{Thrun02a, 
  AUTHOR         = {Thrun, S.}, 
  TITLE          = {Robotic Mapping: A Survey},
  BOOKTITLE      = {Exploring Artificial Intelligence in the New Millenium},
  PUBLISHER      = {Morgan Kaufmann},
  YEAR           = {2002},
  EDITOR         = {Lakemeyer, G. and Nebel, B.},
  NOTE           = {to appear}
}